diff --git a/components/driver/can.c b/components/driver/can.c
index d67b826388..ced010c761 100644
--- a/components/driver/can.c
+++ b/components/driver/can.c
@@ -340,7 +340,11 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
     CAN_CHECK(g_config->rx_queue_len > 0, ESP_ERR_INVALID_ARG);
     CAN_CHECK(g_config->tx_io >= 0 && g_config->tx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
     CAN_CHECK(g_config->rx_io >= 0 && g_config->rx_io < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG);
-    CAN_CHECK(CAN_BRP_IS_VALID(t_config->brp), ESP_ERR_INVALID_ARG);
+#if (CONFIG_ESP32_REV_MIN >= 2)
+    CAN_CHECK(t_config->brp >= CAN_BRP_MIN && t_config->brp <= CAN_BRP_MAX_ECO, ESP_ERR_INVALID_ARG);
+#else
+    CAN_CHECK(t_config->brp >= CAN_BRP_MIN && t_config->brp <= CAN_BRP_MAX, ESP_ERR_INVALID_ARG);
+#endif
 
     esp_err_t ret;
     can_obj_t *p_can_obj_dummy;
diff --git a/components/soc/esp32/include/hal/can_ll.h b/components/soc/esp32/include/hal/can_ll.h
index c498ed59a5..170949634c 100644
--- a/components/soc/esp32/include/hal/can_ll.h
+++ b/components/soc/esp32/include/hal/can_ll.h
@@ -28,6 +28,7 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "sdkconfig.h"
 #include "hal/can_types.h"
 #include "soc/can_periph.h"
 
@@ -334,8 +335,8 @@ static inline uint32_t can_ll_get_and_clear_intrs(can_dev_t *hw)
  */
 static inline void can_ll_set_enabled_intrs(can_dev_t *hw, uint32_t intr_mask)
 {
-#ifdef CAN_BRP_DIV_SUPPORTED
-    //ESP32 Rev 2 has brp div. Need to mask when setting
+#if (CONFIG_ESP32_REV_MIN >= 2)
+    //ESP32 Rev 2 or later has brp div field. Need to mask it out
     hw->interrupt_enable_reg.val = (hw->interrupt_enable_reg.val & 0x10) | intr_mask;
 #else
     hw->interrupt_enable_reg.val = intr_mask;
@@ -360,7 +361,7 @@ static inline void can_ll_set_enabled_intrs(can_dev_t *hw, uint32_t intr_mask)
  */
 static inline void can_ll_set_bus_timing(can_dev_t *hw, uint32_t brp, uint32_t sjw, uint32_t tseg1, uint32_t tseg2, bool triple_sampling)
 {
-#ifdef CAN_BRP_DIV_SUPPORTED
+#if (CONFIG_ESP32_REV_MIN >= 2)
     if (brp > CAN_BRP_DIV_THRESH) {
         //Need to set brp_div bit
         hw->interrupt_enable_reg.brp_div = 1;
diff --git a/components/soc/esp32/include/soc/can_caps.h b/components/soc/esp32/include/soc/can_caps.h
index 68073a3363..6313c0dfcd 100644
--- a/components/soc/esp32/include/soc/can_caps.h
+++ b/components/soc/esp32/include/soc/can_caps.h
@@ -18,15 +18,10 @@
 extern "C" {
 #endif
 
-#if (CONFIG_ESP32_REV_MIN >= 2)
-#define CAN_BRP_DIV_SUPPORTED       1
-#define CAN_BRP_DIV_THRESH          128
-//Any even number from 2 to 128, or multiples of 4 from 132 to 256
-#define CAN_BRP_IS_VALID(brp)       (((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0) || ((brp) >= 132 && (brp) <= 256 && ((brp) & 0x3) == 0))
-#else
-//Any even number from 2 to 128
-#define CAN_BRP_IS_VALID(brp)       ((brp) >= 2 && (brp) <= 128 && ((brp) & 0x1) == 0)
-#endif
+#define CAN_BRP_MIN                         2
+#define CAN_BRP_MAX                         128
+#define CAN_BRP_MAX_ECO                     256
+#define CAN_BRP_DIV_THRESH                  128
 
 //Todo: Add FIFO overrun errata workaround
 //Todo: Add ECC decode capabilities
diff --git a/components/soc/include/hal/can_types.h b/components/soc/include/hal/can_types.h
index d7947e65c1..0cdac7b704 100644
--- a/components/soc/include/hal/can_types.h
+++ b/components/soc/include/hal/can_types.h
@@ -20,6 +20,7 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "sdkconfig.h"
 
 /**
  * @brief   CAN2.0B Constants
@@ -53,7 +54,7 @@ extern "C" {
  * @note These timing values are based on the assumption APB clock is at 80MHz
  * @note The 20K, 16K and 12.5K bit rates are only available from ESP32 Revision 2 onwards
  */
-#ifdef CAN_BRP_DIV_SUPPORTED
+#if (CONFIG_ESP32_REV_MIN >= 2)
 #define CAN_TIMING_CONFIG_12_5KBITS()   {.brp = 256, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define CAN_TIMING_CONFIG_16KBITS()     {.brp = 200, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .triple_sampling = false}
 #define CAN_TIMING_CONFIG_20KBITS()     {.brp = 200, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .triple_sampling = false}